cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(draw_demo)
find_package(catkin REQUIRED COMPONENTS
        actionlib
        geometry_msgs
        image_transport
        kinova_msgs
        message_generation
        bwi_moveit_utils
        pcl_ros
        pcl_conversions
        roscpp
        bwi_perception
        sensor_msgs
        std_msgs
  )
find_package(OpenCV REQUIRED)

catkin_package(
  LIBRARIES kinova_msgs
  CATKIN_DEPENDS kinova_msgs #pcl_conversions pcl_ros roscpp sensor_msgs
)


include_directories(
  ${catkin_INCLUDE_DIRS}
  ${openCV_INCLUDE_DIRS}
)

add_executable (recordTrajectories src/recordTrajectory.cpp)
target_link_libraries(recordTrajectories ${catkin_LIBRARIES})

add_executable (visionDistance src/visionDistance.cpp)
target_link_libraries(visionDistance ${catkin_LIBRARIES} ${OpenCV_LIBS})


#fingers open/close executable
add_executable (fingersWorkout src/moveFingers.cpp)
target_link_libraries(fingersWorkout ${catkin_LIBRARIES})
#recordpoints exe
add_executable (recordPoints src/recordPoints.cpp)
target_link_libraries(recordPoints ${catkin_LIBRARIES})

#shapes exe
add_executable (drawShapes src/shapes.cpp)
target_link_libraries(drawShapes ${catkin_LIBRARIES})

#draw exe
add_executable (draw src/draw.cpp)
target_link_libraries(draw ${catkin_LIBRARIES})

#approach board
add_executable(approach_board src/approach_board.cpp)
target_link_libraries(approach_board ${catkin_LIBRARIES} ${PCL_LIBRARIES})

#movement_demos exe
add_executable (movement_demo src/movement_demo.cpp)
target_link_libraries(movement_demo ${catkin_LIBRARIES})

